A multifunctional massage and physiotherapy head imitating human hand

Abstract

The application discloses an artificial hand multifunctional massage and physiotherapy head, and belongs to the technical field of massage and physiotherapy heads. The massage and physiotherapy head comprises a supporting plate and an end cover arranged on one side of the supporting plate, and the supporting plate and the end cover are fixedly connected through bolts. The massage and physiotherapy head further comprises a clamping jaw structure arranged on the supporting plate and the end cover and used for kneading, a dismounting structure arranged on a side, away from the supporting plate, of the end cover, and an acupoint massage head arranged on the dismounting structure and used for pressing or a heating massage head used for moxibustion hot compress. The artificial hand multifunctional massage and physiotherapy head integrates the clamping jaw structure used for kneading, the acupoint massage head used for pressing and the heating massage head used for moxibustion hot compress, can imitate a human hand to complete various rehabilitation methods, and meets the needs and preferences of different users. Meanwhile, the dismounting structure is arranged, so that the acupoint massage head and the heating massage head can be easily replaced, and the flexibility and adaptability of the massage and physiotherapy head are improved.

Description

Technical Field

[0001] This application relates to the field of massage therapy head technology, specifically a multifunctional massage therapy head that mimics a human hand. Background Technology

[0002] With people's pursuit of health and a comfortable quality of life, massage therapy equipment has become a widely used product in the market, bringing a touch of relief and relaxation to the fast-paced lives of modern people.

[0003] Chinese utility model patent CN221600560U discloses a physiotherapy massage head and its massage components. By mounting massage contacts at both ends of a rocker arm, the contacts can freely swing and adapt flexibly to various curves and contours of the human body. However, this massage head offers only basic kneading and pressing functions, making it difficult to mimic the diverse rehabilitation techniques used by therapists. This results in a relatively limited massage experience for users and fails to meet their deeper, more personalized rehabilitation needs.

[0004] Therefore, this application provides a human hand-like multifunctional massage therapy head to solve the above problems. Utility Model Content

[0005] This application provides a human hand-like multifunctional massage therapy head, which aims to solve the problems mentioned in the background art, such as the limited massage methods of existing therapy massage heads, which are difficult to meet the deep and personalized rehabilitation needs of users.

[0006] To achieve the above objectives, this application provides the following technical solution: a multifunctional massage therapy head that mimics a human hand, comprising a support plate and an end cap disposed on one side of the support plate, wherein the support plate and the end cap are fixedly connected by bolts;

[0007] The massage therapy head also includes a kneading gripper structure on the support plate and end cap, a detachable assembly structure on the side of the end cap away from the support plate, and an acupoint massage head for pressing or a heated massage head for moxibustion on the detachable assembly structure. By integrating the kneading gripper structure, the pressing acupoint massage head, and the heated massage head for moxibustion into one unit, the massage therapy head can provide a more natural and comfortable massage experience, mimicking various rehabilitation techniques performed by human hands to meet the needs and preferences of different users. At the same time, the design of the detachable assembly structure allows the acupoint massage head and the heated massage head to be easily replaced, improving the flexibility and adaptability of the massage therapy head.

[0008] Preferably, to facilitate the installation and use of the massage therapy head, a flange for fixing to the robotic arm is fixedly installed on the end cap; the flange design allows the end cap to be easily fixed to the end of the movable robotic arm, which can quickly connect the massage therapy head to the robotic arm. By fixing the massage therapy head to the end of the robotic arm, the movements of a human hand can be imitated to realize various rehabilitation therapy operations such as precise massage, manipulation, and moxibustion, thereby improving the convenience of installation and use.

[0009] Preferably, to facilitate kneading, the gripper structure includes massage fingers symmetrically arranged below the support plate and end cap, and a drive assembly disposed on the support plate and end cap for clamping the two massage fingers together. By driving the two massage fingers together through the drive assembly, the kneading action of a human hand can be imitated, which can act more naturally on human muscles and acupoints. This design makes the massage process more ergonomic and improves the comfort and effect of the massage.

[0010] Preferably, to facilitate the clamping of the two massage fingers, the drive assembly includes a drive gear rotatably connected between the support plate and the end cap, a servo motor fixedly installed on the side of the support plate away from the end cap and fixedly connected to the drive gear, and a transmission assembly disposed between the support plate and the end cap and connected to the drive gear and the two massage fingers for transmitting power from the drive gear to the two massage fingers; the drive gear is driven to rotate by the servo motor, and the power is transmitted through the transmission assembly, so that the two massage fingers can easily achieve the clamping action.

[0011] Preferably, to achieve power transmission, the transmission assembly includes driven gears symmetrically rotatably connected to the support plate and end cap at positions above the two massage fingers and meshing with each other; drive linkages fixedly connected to the two driven gears and passing through the bottom ends of the support plate and end cap; transmission linkages rotatably connected to the ends of the two drive linkages away from the corresponding driven gears and fixedly connected to the top of the corresponding massage fingers; and finger joint rods rotatably connected between the support plate and end cap and located below the side of the two transmission linkages that are close to each other. The finger joint rods pass through the bottom ends of the support plate and end cap away from the support plate and end cap and are rotatably connected to the connection between the massage fingers and the transmission linkages. The drive gear meshes with the side above one of the driven gears. Through the step-by-step transmission of the driven gears, drive linkages, and transmission linkages, the power of the servo-driven drive gear can be efficiently transmitted to the two massage fingers. This design ensures the clamping force and speed of the two massage fingers.

[0012] Preferably, to facilitate the installation of the acupoint massage head and the heated massage head, the disassembly and assembly structure includes an adapter fixedly installed on the side of the end cover away from the support plate, and a retainer screwed onto the adapter for installing the acupoint massage head or the heated massage head. The combined design of the adapter and the retainer provides a stable mounting base for the acupoint massage head or the heated massage head, allowing the user to complete the installation simply by screwing the retainer onto the adapter and then installing the acupoint massage head or the heated massage head into the retainer.

[0013] Preferably, to further facilitate the assembly and disassembly of the acupoint massage head and the heating massage head, the inner wall of the retainer is fixedly provided with an internal thread, and the outer side of the tip of the acupoint massage head or the heating massage head is fixedly provided with an external thread that matches the internal thread. Through the threaded connection design between the internal thread of the retainer's inner wall and the external thread on the outer side of the tip of the acupoint massage head or the heating massage head, the user can assemble and disassemble the acupoint massage head or the heating massage head and the retainer simply by rotating it without using complicated tools or skills, greatly improving the convenience of operation.

[0014] This human-hand-inspired multi-functional massage therapy head integrates a kneading gripper structure, an acupressure massage head, and a moxibustion-heated massage head into one unit, enabling it to provide a more natural and comfortable massage experience. It mimics human hands to perform various rehabilitation techniques to meet the needs and preferences of different users.

[0015] This human hand-like multi-functional massage therapy head features a detachable structure that allows for easy replacement of the acupoint massage head and the heated massage head, enhancing its flexibility and adaptability. Attached Figure Description

[0016] Figure 1 An exploded view of a multifunctional massage therapy head that mimics the shape of a human hand;

[0017] Figure 2 A schematic diagram of the gripper structure in a multifunctional massage therapy head that mimics a human hand;

[0018] Figure 3 An exploded view of the disassembly and assembly structure of a multifunctional massage therapy head that mimics the shape of a human hand.

[0019] In the picture:

[0020] 1. Support plate;

[0021] 2. End cap; 21. Flange;

[0022] 3. Gripper structure; 31. Massage finger; 32. Drive assembly; 321. Servo motor; 322. Drive gear; 323. Transmission assembly; 3231. Driven gear; 3232. Drive linkage; 3233. Transmission linkage; 3234. Finger joint rod;

[0023] 4. Acupressure massage head;

[0024] 5. Heated massage head;

[0025] 6. Assembly / disassembly structure; 61. Adapter; 62. Fixture; 621. Internal thread;

[0026] 7. External thread. Detailed Implementation

[0027] The technical solutions of the embodiments of this application will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only some embodiments of this application, and not all embodiments. Based on the embodiments of this application, all other embodiments obtained by those skilled in the art without creative effort are within the scope of protection of this application.

[0028] This embodiment provides a human hand-like multifunctional massage therapy head, such as... Figures 1-3 As shown, the massage therapy head includes a support plate 1 and an end cap 2 disposed on one side of the support plate 1. The support plate 1 and the end cap 2 are fixedly connected by bolts. The massage therapy head also includes a gripper structure 3 for kneading disposed on the support plate 1 and the end cap 2, a disassembly and assembly structure 6 disposed on the side of the end cap 2 away from the support plate 1, and an acupoint massage head 4 for pressing or a heated massage head 5 for moxibustion hot compress disposed on the disassembly and assembly structure 6.

[0029] To facilitate the installation and use of the massage therapy head, a flange 21 for fixing to the robotic arm is fixedly installed on the end cap 2. The design of the flange 21 allows the end cap 2 to be easily fixed to the end of the movable robotic arm, which can quickly connect the massage therapy head to the robotic arm. By fixing the massage therapy head to the end of the robotic arm, the robotic arm can be operated to push the massage therapy head to imitate the movements of a human hand, so as to realize various rehabilitation therapy operations such as precise massage, manipulation, and moxibustion hot compress for patients, thereby improving the convenience of installation and use.

[0030] It should be noted that the massage therapy head also includes an edge processor. The servo motor 321 of the gripper structure 3 and the robotic arm are both connected to the output end of the edge processor. By issuing commands through the edge processor, control commands can be issued to the gripper structure 3 and the robotic arm. The edge processor uses an ESP32 as the edge processor, and the ESP32 also receives control information from the back-end control system, making it convenient for users to operate.

[0031] In use, first, fix the massage head to the end of the robotic arm via flange 21. Then, select the appropriate acupoint according to the massage needs. Next, depending on the massage requirements, use the gripper structure 3, the acupoint massage head 4, or the heated massage head 5. When kneading the acupoint is needed, a command can be sent to the ESP32 edge processor via the backend system to activate the robotic arm, adjust the position and angle of the gripper structure 3, and push the gripper structure 3 closer to the acupoint. Then, continue to send commands to the ESP32 edge processor via the backend system to activate the gripper structure 3. At this time, the gripper structure 3 performs kneading actions under the control of the ESP32 edge processor. When performing pressing or heat therapy, the acupoint massage head 4 or the heated massage head 5 can be adjusted according to the massage needs. The heated massage head 5 is mounted on the disassembly structure 6. Similarly, the backend system sends instructions to the ESP32 edge processor to start the robotic arm to adjust the position and angle of the acupoint massage head 4 or the heated massage head 5, and push the acupoint massage head 4 or the heated massage head 5 closer to the acupoint. As the robotic arm continues to push, the acupoint massage head 4 or the heated massage head 5 can directly perform acupressure or heat application on the human acupoint. Similarly, one of the acupoint massage head 4 or the heated massage head 5 can be selected for use with the gripper structure 3. However, when the heated massage head 5 is needed, the moxa stick needs to be lit and tied to the end of the heated massage head 5 before the heated massage head 5 can be pushed and pressed to the acupoint to complete the heat application function.

[0032] Specifically, the gripper structure 3 includes massage fingers 31 symmetrically arranged below the support plate 1 and the end cap 2, and a drive assembly 32 arranged on the support plate 1 and the end cap 2 for clamping the two massage fingers 31. The drive assembly 32 includes an active gear 322 rotatably connected between the support plate 1 and the end cap 2, a servo motor 321 fixedly installed on the side of the support plate 1 away from the end cap 2 and fixedly connected to the active gear 322, and a transmission assembly 323 arranged between the support plate 1 and the end cap 2 and connected to the active gear 322 and the two massage fingers 31 for transmitting power from the active gear 322 to the two massage fingers 31.

[0033] When the gripper structure 3 is needed for kneading, the edge processor sends a command to start the servo motor 321. At this time, the servo motor 321 drives the drive gear 322 to rotate. Then, the rotation of the drive gear 322 is transmitted to the two massage fingers 31 through the transmission component 323, so that the two massage fingers 31 clamp together to simulate the kneading action of a human hand, which can perform kneading massage and manipulation on the patient's body parts.

[0034] Furthermore, the transmission assembly 323 includes driven gears 3231 symmetrically rotatably connected to the support plate 1 and the end cap 2 at positions above the corresponding two massage fingers 31 and meshing with each other; drive linkages 3232 respectively fixedly connected to the two driven gears 3231 and passing through the bottom ends of the support plate 1 and the end cap 2; transmission linkages 3233 respectively rotatably connected to the ends of the two drive linkages 3232 away from the corresponding driven gears 3231 and fixedly connected to the top ends of the corresponding massage fingers 31; and finger joint rods 3234 respectively rotatably connected between the support plate 1 and the end cap 2 and located below the side of the two transmission linkages 3233 that are close to each other. The finger joint rods 3234 pass through the bottom ends of the support plate 1 and the end cap 2 away from the support plate 1 and the end cap 2 and are rotatably connected to the connection between the massage fingers 31 and the transmission linkages 3233. The drive gear 322 meshes with the upper side of one of the driven gears 3231.

[0035] When the servo motor 321 is activated to drive the drive gear 322 to rotate, the drive gear 322 meshes with one of the driven gears 3231. Therefore, the rotational power of the drive gear 322 can be transmitted to the driven gear 3231. Since the two driven gears 3231 mesh with each other, when one driven gear 3231 rotates, it drives the other driven gear 3231 to rotate in the opposite direction. As the two drive linkages 3232 move in opposite directions, the drive linkages 3232 connected to the two driven gears 3231 also rotate in opposite directions. The other end of the drive linkage 3232 passes through the support plate 1 and the bottom of the end cover 2. Therefore, the rotational motion of the drive linkage 3232 is converted into linear motion. Specifically, when one of the driven gears 3231 meshes with the drive gear 322... When rotated clockwise, the two drive linkages 3232 rotate downwards. When one of the driven gears 3231, which meshes with the drive gear 322, rotates counterclockwise, the two drive linkages 3232 rotate upwards. When the two drive linkages 3232 rotate upwards, the tips of the two massage fingers 31 move towards each other through the transmission of the two transmission linkages 3233, thus separating. When the two drive linkages 3232 rotate downwards, the tips of the two massage fingers 31 move away from each other through the transmission of the two transmission linkages 3233, thus closing and clamping. When the transmission linkages 3233 drive the massage fingers 31 to clamp, the finger joint rod 3234 provides support and guidance, ensuring that the massage fingers 31 maintain a stable movement trajectory during the clamping process.

[0036] Furthermore, the disassembly and assembly structure 6 includes an adapter 61 fixedly installed on the side of the end cover 2 away from the support plate 1, and a retainer 62 screwed onto the adapter 61 for installing the acupoint massage head 4 or the heating massage head 5. The inner wall of the retainer 62 is fixedly provided with an internal thread 621, and the outer side of the top of the acupoint massage head 4 or the heating massage head 5 is fixedly provided with an external thread 7 that is compatible with the internal thread 621.

[0037] When installing the acupoint massage head 4 or the heated massage head 5 according to massage needs, first rotate the desired acupoint massage head 4 or heated massage head 5, and align the external thread 7 on the acupoint massage head 4 or heated massage head 5 with the internal thread 621 on the retainer 62. Then rotate the acupoint massage head 4 or heated massage head 5 so that the external thread 7 gradually engages with the internal thread 621 of the retainer 62. As the rotation continues, the acupoint massage head 4 or heated massage head 5 will gradually be fixed on the retainer 62 until the required tightness is achieved. When it is necessary to remove the acupoint massage head 4 or heated massage head 5, rotate the acupoint massage head 4 or heated massage head 5 in the opposite direction and gradually separate the external thread 7 from the internal thread 621 of the retainer 62. As the rotation continues, the acupoint massage head 4 or heated massage head 5 will gradually loosen from the retainer 62 until it is completely detached.

[0038] The above description is merely a preferred embodiment of this application, but the scope of protection of this application is not limited thereto. Any equivalent substitutions or modifications made by those skilled in the art within the scope of the technology disclosed in this application, based on the technical solution and concept of this application, should be included within the scope of protection of this application.

Claims

1. A multifunctional massage therapy head that mimics a human hand, comprising a support plate (1) and an end cap (2) disposed on one side of the support plate (1), wherein the support plate (1) and the end cap (2) are fixedly connected by bolts; Its features are: The massage therapy head also includes a gripper structure (3) for kneading on the support plate (1) and end cap (2), a disassembly structure (6) on the side of the end cap (2) away from the support plate (1), and an acupoint massage head (4) for pressing or a heated massage head (5) for moxibustion hot compress on the disassembly structure (6).

2. The human hand-like multifunctional massage therapy head according to claim 1, characterized in that: A flange (21) for fixing to the robotic arm is fixedly installed on the end cap (2).

3. The human hand-like multifunctional massage therapy head according to claim 1, characterized in that: The gripper structure (3) includes massage fingers (31) symmetrically arranged below the support plate (1) and the end cap (2) and a drive assembly (32) arranged on the support plate (1) and the end cap (2) for clamping the two massage fingers (31).

4. The human hand-like multifunctional massage therapy head according to claim 3, characterized in that: The drive assembly (32) includes a drive gear (322) rotatably connected between the support plate (1) and the end cap (2), a servo motor (321) fixedly installed on the side of the support plate (1) away from the end cap (2) and fixedly connected to the drive gear (322), and a transmission assembly (323) disposed between the support plate (1) and the end cap (2) and connected to the drive gear (322) and the two massage fingers (31) for transmitting power from the drive gear (322) to the two massage fingers (31).

5. The human hand-like multifunctional massage therapy head according to claim 4, characterized in that: The transmission assembly (323) includes driven gears (3231) symmetrically rotatably connected to the support plate (1) and end cap (2) at positions above the two massage fingers (31) and meshing with each other; drive linkages (3232) fixedly connected to the two driven gears (3231) and passing through the bottom ends of the support plate (1) and end cap (2); and transmission components rotatably connected to the ends of the two drive linkages (3232) away from the corresponding driven gears (3231) and fixedly connected to the top ends of the corresponding massage fingers (31). The connecting rod (3233) and the knuckle rod (3234) are respectively rotatably connected between the support plate (1) and the end cap (2) and located below the two transmission connecting rods (3233) on the side close to each other. The knuckle rod (3234) passes through the bottom end of the support plate (1) and the end cap (2) away from the support plate (1) and the end cap (2) and is rotatably connected to the connection between the massage finger (31) and the transmission connecting rod (3233). The driving gear (322) meshes with the upper side of one of the driven gears (3231).

6. The human hand-like multifunctional massage therapy head according to claim 1, characterized in that: The disassembly and assembly structure (6) includes an adapter (61) fixedly installed on the side of the end cap (2) away from the support plate (1) and a retainer (62) screwed onto the adapter (61) for installing the acupoint massage head (4) or the heating massage head (5).

7. The human hand-like multifunctional massage therapy head according to claim 6, characterized in that: The inner wall of the fixer (62) is fixedly provided with an internal thread (621), and the outer side of the top of the acupoint massage head (4) or the heating massage head (5) is fixedly provided with an external thread (7) that is compatible with the internal thread (621).

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